Electrically actuated booster

ABSTRACT

An electrically actuated booster performs displacement control such that the relative displacement relationship between an input member and an assist member is variable according to the absolute displacement of the input member. A target displacement that makes variable the relative displacement relationship between an input piston and a booster piston is set according to a detection signal from a potentiometer ( 86 ), and displacement control is performed so that the relative displacement between the two pistons becomes equal to the target displacement on the basis of a signal from a relative displacement sensor ( 100 ) that detects the relative displacement between the two pistons.

This application is divisional of application Ser. No. 11/991,733, nowU.S. Pat. No. 8,500,213, which is the National Stage of InternationalApplication No. PCT/JP2006/319037, filed Sep. 26, 2006.

BACKGROUND OF THE INVENTION

1. Technical Field

The present invention relates to an electrically actuated booster foruse in an automotive brake mechanism or the like.

2. Description of the Related Art

There have heretofore been electrically actuated boosters that boost apedal input with a electrically-operated actuator and output the boostedpedal input to a master cylinder. Among such electrically actuatedboosters are those disclosed in the following patent documents.

Japanese Patent Application Publication No. Sho 60-92151 discloses anelectrically actuated booster having an assist member (electromagneticdevice) provided to assist the transmission of force from an input rodto a master cylinder. The electrically actuated booster further has arelative displacement sensor that detects a relative displacementbetween the input rod and the assist member. In the electricallyactuated booster, the displacement of the assist member is controlled sothat the input rod and the assist member are displaced together as oneunit, i.e. the relative displacement detected by the relativedisplacement sensor is kept zero.

Japanese Patent Application Publication No. Hei 10-53122 discloses anelectrically actuated booster in which an input rod that receives apedal input and an assist member (piston shaft) are connected so thatwhen the input rod is pressed, a controller applies force generated byan electric motor to the assist member, thereby displacing the assistmember together with the input rod as one unit, and thus boosting thepedal input and outputting the boosted pedal input to a master cylinder.

Japanese Patent Application Publication No. Hei 10-138909 discloses anelectrically actuated booster having an input rod that receives a pedalinput and an assist member (main piston) operating in association withthe input rod. One end of the assist member faces a pressure chamber ofa master cylinder. When the input rod is pressed, a controller appliesforce generated by an electric motor to the assist member, therebydisplacing the assist member, and thus boosting the pedal input andoutputting the boosted pedal input to the master cylinder.

SUMMARY OF THE INVENTION

1. Problem to be Solved by the Invention

In the electrically actuated boosters disclosed in the above-describedpatent documents, however, the assist member is controlled so that therelative displacement between the input member and the assist member iskept constant at all times. The boosters cannot control the displacementof the assist member in such a manner as to change the relativedisplacement relationship between the input member and the assistmember. In addition, the boosters are not arranged to detect an absolutedisplacement of the input member and to perform displacement controlsuch that the relative displacement relationship between the inputmember and the assist member is freely changed according to the absolutedisplacement of the input member.

More specifically, in the booster disclosed in JP 60-92151, thedisplacement is controlled so that the relative displacement between theinput member and the assist member is kept zero at all times, and therelative displacement relationship between the input member and theassist member cannot be variably controlled. Further, the boosterdisclosed in JP 60-92151 does not detect the absolute displacement ofthe input member and does not include a technique to performdisplacement control such that the relative displacement relationshipbetween the input member and the assist member is freely changedaccording to the absolute displacement of the input member.

In the booster disclosed in JP 10-53122, the input member and the assistmember are arranged to move together as one unit. Therefore, therelative displacement relationship between the input member and theassist member cannot be varied, as a matter of course. Further, thebooster disclosed in JP 10-53122 does not detect the absolutedisplacement of the input member and does not include a technique toperform displacement control such that the relative displacementrelationship between the input member and the assist member is freelychanged according to the absolute displacement of the input member.

In the booster disclosed in JP 10-138909, the input member and theassist member are displaceable relative to each other. However,detection of the relative displacement between the two members is nottaken into consideration at all. Accordingly, the relative displacementrelationship between the input member and the assist member cannot bevariably controlled. Further, the booster disclosed in JP 10-138909 doesnot detect the absolute displacement of the input member and does notinclude a technique to perform displacement control such that therelative displacement relationship between the input member and theassist member is freely changed according to the absolute displacementof the input member.

The present invention has been made in view of the above-describedcircumstances. Accordingly, an object of the present invention is toprovide an electrically actuated booster capable of obtaining variousdesired brake characteristics and improving brake feeling by performingdisplacement control such that the relative displacement relationshipbetween the input member and the assist member is variable according tothe absolute displacement (including estimated absolute displacement) ofthe input member.

2. Means for Solving the Problem

The invention is an electrically actuated booster having an input memberthat moves forward and backward in response to an operation of a brakepedal, an assist member arranged to be movable relative to the inputmember, and a electrically-operated actuator that causes the assistmember to move forward and backward, wherein a boosted brake fluidpressure is generated in a master cylinder by an assist thrust appliedto the assist member according to movement of the input member caused bythe brake pedal. The electrically actuated booster is characterized byincluding input absolute displacement detecting means that detects anabsolute displacement of the input member, and either one of relativedisplacement detecting means that detects a relative displacementbetween the input member and the assist member and assist absolutedisplacement detecting means that detects an absolute displacement ofthe assist member. Further, the electrically actuated booster isprovided with control means that sets a target displacement that makesvariable the relative displacement relationship between the input memberand the assist member according to a detection signal from the inputabsolute displacement detecting means and that controls theelectrically-operated actuator so that the relative displacementrelationship between the input member and the assist member becomesequal to the target displacement on the basis of a signal from therelative displacement detecting means or the assist absolutedisplacement detecting means.

The electrically actuated booster is characterized in that a brake fluidpressure is generated in the master cylinder by an input thrust appliedto the input member from the brake pedal and an assist thrust applied tothe assist member from the electrically-operated actuator, and even whenthe input member and the assist member are displaced relative to eachother, a part of a reaction caused by the brake fluid pressure istransmitted to the input member, and another part of the reaction istransmitted to the assist member.

Further, an urging means is provided between the input member and theassist member to urge the input member relative to the assist membertoward a neutral position of relative displacement therebetween.

The control means controls the electrically-operated actuator so that,as the input member moves in a direction for increasing the brake fluidpressure, the absolute displacement of the assist member becomes largeror smaller than the absolute displacement of the input member.

Further, the control means controls the electrically-operated actuatoron the basis of the signal from the input absolute displacementdetecting means such that when the absolute displacement of the inputmember is detected to have moved from an initial position by apredetermined amount, the assist member is started to be displaced sothat the absolute displacement of the assist member becomes equal to orlarger than the absolute displacement of the input member.

When the absolute displacement of the input member detected by the inputabsolute displacement detecting means has become a predetermined amount,the control means controls the electrically-operated actuator so thatthe absolute displacement of the assist member becomes larger than theabsolute displacement of the input member.

Another aspect of the invention is that, when the control means judgesfrom the absolute displacement of the input member detected by the inputabsolute displacement detecting means that the speed of movement of theinput member has reached a predetermined speed, the control meanscontrols the electrically-operated actuator so that the absolutedisplacement of the assist member becomes larger than the absolutedisplacement of the input member.

Another aspect of the invention is that, when the control means judgesfrom the absolute displacement of the input member detected by the inputabsolute displacement detecting means that movement of the input memberin a direction for increasing the brake fluid pressure has stopped, thecontrol means sets a target displacement so that the assist member isdisplaced relative to the input member by a predetermined amount in thedirection for increasing the brake fluid pressure, and controls theelectrically-operated actuator on the basis of the target displacement.

Further, the control means is connected to an acceleration sensor thatdetects an operation of an accelerator pedal or connected to a throttlesensor that detects opening and closing of an engine throttle, and whenthe acceleration sensor detects cancellation of the operation of theaccelerator pedal or when the throttle sensor detects that the enginethrottle has been closed, the control means controls theelectrically-operated actuator so that the assist member is displacedrelative to the input member in a direction for increasing the brakefluid pressure to reduce an ineffective stroke of the master cylinder.

Another aspect of the invention is that, when a braking operation by aregenerative braking system is performed, the control means controls theelectrically-operated actuator so that the assist member is displacedrelative to the input member in a direction for reducing the brake fluidpressure.

The input absolute displacement detecting means is a displacement sensorthat detects an absolute displacement of the input member relative to afixed part.

Also, the input absolute displacement detecting means detects anabsolute displacement of the input member by computing a detectionsignal from any one of a brake pedal depressing force sensor thatdetects a depressing force applied to the brake pedal, an electriccurrent sensor that detects an amount of electric current supplied to anelectric motor constituting the electrically-operated actuator, and afluid pressure sensor that detects a fluid pressure generated by apiston in the master cylinder.

3. Advantageous Effects of the Invention

According to the inventions set forth in appended claims, it is possibleto obtain various brake characteristics, for example, brake assistcontrol characteristics, by performing displacement control such thatthe relative displacement relationship between the input member and theassist member is variable according to a detection signal from the inputabsolute displacement detecting means. In view of the fact that thechange in fluid pressure with the stroke is, in general, smaller in alow fluid pressure region than in a high fluid pressure region, thedisplacement control in which the stroke is controlled has the advantagethat braking in the low fluid pressure region, which is frequently usedfor brakes, can be performed with high accuracy.

According to the invention, the input member is adapted to receive apart of the reaction caused by the brake fluid pressure. Therefore, thefluid pressure generated according to the stroke of the input member canbe increased or reduced by changing the relative displacementrelationship between the input member and the assist member, and thebrake pedal depressing force relative to the stroke of the input membercan be changed according to the increase or reduction in the fluidpressure. Thus, the relationship between the stroke of the input memberon the one hand and on the other the brake fluid pressure and the brakepedal depressing force can be adjusted as desired.

Further, urging means is provided to urge the input member relative tothe assist member toward the neutral position of the relativedisplacement therebetween. Therefore, the boost ratio can be varied bychanging the relative displacement relationship between the input memberand the assist member.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a sectional view showing an electrically actuated boosteraccording to a first embodiment of the present invention.

FIG. 2 is a schematic view for explaining pressure equilibrium in theelectrically actuated booster shown in FIG. 1.

FIG. 3 is a block diagram showing a control system including acontroller of the electrically actuated booster in FIG. 1.

FIG. 4 is a graph in which: part (b) shows target displacementcalculation characteristic data (input stroke-relative displacementcharacteristics) used for constant boost control that can be performedby the controller shown in FIG. 1; part (a) shows input stroke andassist stroke characteristic data corresponding to the targetdisplacement calculation characteristic data in part (b); and part (c)shows the corresponding relationship between the input stroke and thefluid pressure to the target displacement calculation characteristicdata in part (b).

FIG. 5 is a graph in which: part (b) shows target displacementcalculation characteristic data used for variable boost controlperformed by the controller shown in FIG. 1; and parts (a) and (c) showcharacteristic data corresponding to parts (a) and (c) of FIG. 4.

FIG. 6 is a graph in which: part (b) shows target displacementcalculation characteristic data used for jump in control performed bythe controller shown in FIG. 1; and parts (a) and (c) showcharacteristic data corresponding to parts (a) and (c) of FIG. 4.

FIG. 7 is a graph in which: part (b) shows target displacementcalculation characteristic data used for brake assist control performedby the controller 92 shown in FIG. 1; and parts (a) and (c) showcharacteristic data corresponding to parts (a) and (c) of FIG. 4.

FIG. 8 is a graph in which: part (b) shows target displacementcalculation characteristic data used for build-up control performed bythe controller shown in FIG. 1; parts (a) and (c) show characteristicdata corresponding to parts (a) and (c) of FIG. 4; and part (d) showschanges with time of the input stroke and the fluid pressure.

FIG. 9 is a graph in which: part (b) shows target displacementcalculation characteristic data used for regenerative cooperativecontrol performed by the controller shown in FIG. 1; and parts (a) and(c) show characteristic data corresponding to parts (a) and (c) of FIG.4.

FIG. 10 is a graph in which: part (b) shows target displacementcalculation characteristic data used for deboost control performed bythe controller shown in FIG. 1; and parts (a) and (c) showcharacteristic data corresponding to parts (a) and (c) of FIG. 4.

FIG. 11 is a flowchart showing a basic flow to explain the operation ofthe electrically actuated booster in FIG. 1.

FIG. 12 is a flowchart of a modification of the basic flow shown in FIG.11, in which the contents of step S2 of the basic flow have been changedto make the flow compatible with various control processes.

FIG. 13 is a flowchart showing an Input Speed BA flag generation flowexecuted in parallel to the flow of FIG. 12 in association with stepS101 in FIG. 12.

FIG. 14 is a flowchart showing a Build-Up flag generation flow executedin parallel to the flow of FIG. 12 in association with step S103 in FIG.12.

FIG. 15 is a flowchart showing a Regenerative Cooperative flaggeneration flow executed in parallel to the flow of FIG. 12 inassociation with step S105 in FIG. 12.

FIG. 16 is a flowchart showing a regenerative cooperative control targetdisplacement setting flow equivalent to the contents of step S106 inFIG. 12.

FIG. 17 is a flowchart showing an ineffective stroke reducing controlflow used in the first embodiment.

FIG. 18 is a sectional view showing an electrically actuated boosteraccording to a second embodiment of the present invention.

FIG. 19 is a block diagram showing a control system including acontroller of the electrically actuated booster in FIG. 18.

FIG. 20 is a flowchart showing a basic flow to explain the operation ofthe electrically actuated booster in FIG. 18.

FIG. 21 is a diagram schematically showing a first modification of thesecond embodiment.

FIG. 22 is a diagram showing the relationship between the input strokeand the output when the relative displacement is shifted in the firstmodification of the second embodiment shown in FIG. 21.

FIG. 23 is a schematic view for explaining the fact that a fluidpressure sensor, a brake pedal depressing force sensor or a currentsensor can be used as input absolute displacement detecting means.

FIG. 24 is a diagram showing the relationship between the fluid quantityV and the fluid pressure Pb in a master cylinder pressure chamber 2A.

FIG. 25 is a block diagram showing a control system of an electricallyactuated booster according to a third embodiment of the presentinvention.

FIG. 26 is a flowchart showing a basic flow to explain the operation ofthe electrically actuated booster according to the third embodiment.

FIG. 27 is a flowchart of a modification of the basic flow shown in FIG.26, in which the contents of step S702 of the basic flow have beenchanged to make the flow compatible with various control processes.

EXPLANATION OF REFERENCE NUMERALS

50, 50A, 50B, 50C . . . electrically actuated booster, 52 . . . boosterpiston (assist member), 58 . . . input piston (input member), 85 (85A,85B) . . . spring (urging means), 86 . . . potentiometer (input absolutedisplacement detecting means), 91 . . . resolver (assist absolutedisplacement detecting means), 92, 92A, 92C . . . controller (controlmeans), 100 . . . relative displacement sensor (relative displacementdetecting means).

DETAILED DESCRIPTION OF THE INVENTION

An electrically actuated booster according to a first embodiment of thepresent invention will be explained below with reference to FIGS. 1 to17.

In FIG. 1, an electrically actuated booster 50 has a piston assembly 51including a booster piston (assist member) 52 and also serving as aprimary piston of a tandem master cylinder 2. The electrically actuatedbooster 50 further has a electrically-operated actuator 53 that appliesa thrust (booster thrust) to the booster piston 52 constituting thepiston assembly 51. The piston assembly 51 is provided in a housing 54secured to a compartment wall 3. The electrically-operated actuator 53is provided outside the housing 54.

The housing 54 comprises a first tubular member 56 secured to the frontsurface of the compartment wall 3 through a ring-shaped mounting member55, and a second tubular member 57 coaxially connected to the firsttubular member 56. The tandem master cylinder 2 is connected to theforward end of the second tubular member 57. A support plate 63 ismounted on the first tubular member 56. An electric motor 64constituting the electrically-operated actuator 53 is secured to thesupport plate 63. It should be noted that the mounting member 55 has aninner peripheral boss portion 55 a secured to the compartment wall 3 soas to be positioned in an opening 3 a of the compartment wall 3. In thisembodiment, the electric motor 64 is a DC brushless motor.

The tandem master cylinder 2 has a cylinder body 10, one end of which isclosed, and a reservoir 11. A secondary piston 12 is slidably providedin the inner part of the cylinder body 10. The secondary piston 12 makesa pair with the piston assembly 51 serving as the primary piston. Theinterior of the cylinder body 10 is divided by the piston assembly 51and the secondary piston 12 to define two pressure chambers 13 and 14.In response to the forward movement of the two pistons (i.e. the pistonassembly 51 and the secondary piston 12), brake fluid sealed in thepressure chambers 13 and 14 is supplied under pressure to the wheelcylinders of the associated systems.

The wall of the cylinder body 10 is provided with relief ports 15respectively communicating the pressure chambers 13 and 14 with thereservoir 11. In addition, seal members 16 are provided on the innersurface of the cylinder body 10 forward of the relief ports 15,respectively. In response to the forward movement of the two pistons(i.e. the piston assembly 51 and the secondary piston 12), the pair ofseal members 16 come in sliding contact with the respective outerperipheral surfaces (rearward of later-described through-holes 18) ofthe booster piston 52 of the piston assembly 51 and the secondary piston12 associated with the seal members 16, thereby closing the pressurechambers 13 and 14 to the associated relief ports 15. It should be notedthat the pressure chambers 13 and 14 are provided therein with returnsprings 17 that respectively urge rearward the booster piston 52 of thepiston assembly 51 and the secondary piston 12. The respective forwardends of the booster piston 52 and the secondary piston 12 are providedwith through-holes 18 that are communicable with the relief ports 15 inthe master cylinder 2 when the electrically actuated booster is in itsinitial position (shown in the figure) during non-braking operation.

The piston assembly 51 has an input piston (input member) 58 fitted inthe booster piston 52 so as to be movable relative thereto. The inputpiston 58 has a large-diameter portion 58 a at the rear end thereof. Apedal-side shaft 9 extending from a brake pedal 8 is connected to thelarge-diameter portion 58 a. Thus, the input piston 58 moves forward andbackward in response to the operation of the brake pedal 8 (i.e. pedaloperation). In this case, the pedal-side shaft 9 is connected to thelarge-diameter portion 58 a in such a way that the distal end of thepedal-side shaft 9 is fitted in a spherical recess 58 b provided on thelarge-diameter portion 58 a, thereby allowing pivoting of the pedal-sideshaft 9.

The booster piston 52 constituting the piston assembly 51 has apartition 59 therein at a longitudinally intermediate position thereof.The input piston 58 extends through the partition 59. The booster piston52 has its forward end inserted in the pressure chamber (primarychamber) 13 in the master cylinder 2. The forward end of the inputpiston 58 is positioned inside the booster piston 52 in the pressurechamber 13. The interface between the booster piston 52 and the inputpiston 58 is sealed by a seal member 60 disposed forward of thepartition 59 of the booster piston 52, and the interface between thebooster piston 52 and a guide 10 a of the cylinder body 10 of the mastercylinder 2 is sealed by the above-described seal member 16, therebypreventing the brake fluid in the pressure chamber 13 from leaking tothe outside of the master cylinder 2. The respective forward ends of thebooster piston 52 and the secondary piston 12 are provided withthrough-holes 18 that are communicable with the relief ports 15 in themaster cylinder 2 when the electrically actuated booster is in itsinitial position (shown in the figure) during non-braking operation.

The electrically-operated actuator 53 substantially comprises anelectric motor 64 secured to a support plate 63 integral with the firsttubular member 56 of the housing 54, a ball screw mechanism(rotation-rectilinear motion conversion mechanism) 65 provided in thefirst tubular member 56 in such a manner as to surround the input piston58, and a rotation transmission mechanism 66 that transmits the rotationof the electric motor 64 to the ball screw mechanism 65 after reducingthe speed thereof.

The ball screw mechanism 65 comprises a nut member (rotating member) 68rotatably supported by the first tubular member 56 through a bearing(angular contact bearing) 67, and a hollow screw shaft (rectilinearmotion member) 70 engaged with the nut member 68 through balls(reference numeral omitted). The rear end portion of the screw shaft 70is nonrotatably but slidably supported by a ring guide 71 secured to themounting member 55 of the housing 54. Thus, the screw shaft 70 movesrectilinearly in response to the rotation of the nut member 68.

Meanwhile, the rotation transmission mechanism 66 comprises a firstpulley 72 mounted on an output shaft 64 a of the electric motor 64, asecond pulley 74 nonrotatably fitted to the nut member 68 through a key73, and a belt (timing belt) 75 passed over the two pulleys 72 and 74.The second pulley 74 is larger in diameter than the first pulley 72.Thus, the rotation of the electric motor 64 is transmitted to the nutmember 68 of the ball screw mechanism 65 after the speed thereof hasbeen reduced. The bearing 67 is pre-loaded by a nut 76 screwed onto thenut member 68 through the second pulley 74 and a collar 77. It should benoted that the rotation transmission mechanism 66 is not necessarilylimited to the above-described mechanism comprising pulleys and a beltbut may be a reduction gear mechanism or the like.

A flange member 78 is fitted and secured to the forward end of thehollow screw shaft 70 constituting the ball screw mechanism 65, and atubular guide 79 is fitted and secured to the rear end of the screwshaft 70. The flange member 78 and the tubular guide 79 have their innerdiameters set so that they function as guides that slidably guide theinput piston 58. The flange member 78 is adapted to abut against therear end of the booster piston 52 in response to the forward movement ofthe screw shaft 70 in the leftward direction as viewed in FIG. 1.Consequently, the booster piston 52 also moves forward. The secondtubular member 57 constituting the housing 54 is provided therein with areturn spring 81, one end of which is retained by an annular projection80 formed on the inner surface of the second tubular member 57, and theother end of which abuts against the flange member 78. The screw shaft70 is positioned in the initial position (shown in the figure) by thereturn spring 81 when the brake is in an inoperative state.

An annular space 82 is defined between the input piston 58 and thebooster piston 52. A pair of springs (urging means) 85 (85A and 85B) areprovided in the annular space 82. The pair of springs 85 (85A and 85B)are each retained at one end thereof by a flange portion 83 provided onthe input piston 58. The other end of the spring 85A is retained by thepartition 59 of the booster piston 52. The other end of the spring 85Bis retained by a retaining ring 84 fitted to the rear end of the boosterpiston 52. The pair of springs 85 serve to urge the input piston 58relative to the booster piston 52 toward a neutral position of relativedisplacement therebetween and to retain the input piston 58 and thebooster piston 52 at the neutral position of the relative movement whenthe brake is in an inoperative state. When the input piston 58 and thebooster piston 52 have been displaced relative to each other from theneutral position in either direction, the pair of springs 85 urge theinput piston 58 to return to the neutral position relative to thebooster piston 52.

In the first embodiment, a potentiometer 86 (displacement sensor) isprovided in the compartment as an example of input absolute displacementdetecting means that detects an absolute displacement of the inputpiston 58 with respect to the vehicle body (hereinafter occasionallyreferred to as “input absolute displacement detected value A”). Thepotentiometer 86 comprises a body part 87 incorporating a resistor, anda sensor rod 88 extending from the body part 87 toward the brake pedal 8in parallel to the input piston 58. The potentiometer 86 is mounted on abracket 89 secured to the boss portion 55 a of the mounting member 55 ofthe housing 54 such that the potentiometer 86 extends parallel to theinput piston 58. The sensor rod 88 is constantly urged in its extensiondirection by a spring incorporated in the body part 87. The sensor rod88 has its distal end abutting against a bracket 90 secured to the rearend of the input piston 58.

Between the input piston 58 and the screw shaft 70 is interposed arelative displacement sensor 100 (relative displacement detecting means)that detects a relative displacement between the input piston 58 and thebooster piston 52 (hereinafter occasionally referred to as “relativedisplacement detected value B”), thereby detecting a relativedisplacement between the input piston 58 and the screw shaft (and hencethe booster piston 52). The relative displacement sensor 100 physicallydetects a relative displacement between the input piston 58 and thebooster piston 52 and outputs the detected data to a controller 92.

The controller 92 (control means) is connected to the potentiometer 86,the relative displacement sensor 100 and a drive unit (not shown) of theelectric motor 64.

The controller 92 is further connected with an acceleration sensor (notshown) that detects an operation of an accelerator pedal (not shown), ora throttle sensor (not shown) that detects opening and closing of anengine throttle (not shown). When the acceleration sensor detectscancellation of the operation of the accelerator pedal, or when thethrottle sensor detects that the engine throttle has been closed, thecontroller 92 controls the electrically-operated actuator 53 so that thebooster piston 52 is displaced relative to the input piston 58 in thedirection for increasing the brake fluid pressure to reduce theineffective stroke of the master cylinder 2 (ineffective stroke reducingcontrol).

The controller 92 has, as shown in FIG. 3, a memory 101 storing aprogram having the later-described computation and control contents(shown by the flowcharts of FIGS. 11 to 17), target displacementcalculation characteristic data [shown in part (b) of FIGS. 4 to 10]represented by using an input stroke and a relative displacementcorresponding thereto (described later), and input stroke-fluid pressurecharacteristic data shown in part (d) of FIG. 9.

As shown in FIG. 3, the controller 92 has, in addition to the memory101, a differentiating circuit 102, a target displacement setting unit103, a subtracting circuit 104, and a control unit 105.

The differentiating circuit 102 differentiates an absolute displacementdetected by the potentiometer 86 to obtain a speed V (hereinafteroccasionally referred to as “speed signal V”). The target displacementsetting unit 103 receives the input of the speed signal V from thedifferentiating circuit 102 and the detection signal (input absolutedisplacement detected value A) from the potentiometer 86 to set a targetdisplacement C (relative displacement) and inputs the targetdisplacement C to the subtracting circuit 104.

The subtracting circuit 104 subtracts the relative displacement(relative displacement detected value B) detected by the relativedisplacement sensor 100 from the target displacement C output from thetarget displacement setting unit 103 (C−B) to obtain a deviation.

The control unit 105 receives the input of the deviation obtained by thesubtracting circuit 104 and obtains an electric current to be suppliedto the electric motor 64 to control the drive unit of the electric motor64.

In this embodiment, the controller 92 controls, as shown in FIG. 3, theelectric motor 64 and the transmission mechanism [comprising therotation transmission mechanism 66 and the ball screw mechanism 65 (thenut member 68 and the screw shaft 70)] in the order mentioned, therebyallowing the booster piston 52 to be displaced (moved forward andbackward) by the operation of the screw shaft 70 and the spring force ofthe return spring 81. The amount of displacement of the booster piston52 caused in this way is added to the displacement of the input piston58 to adjust the fluid pressure in the master cylinder. In addition, therelative displacement sensor 100 detects a difference (relativedisplacement detected value B) between the displacement of the boosterpiston 52 and the displacement detected by the potentiometer 86. Thedetected data (relative displacement detected value B) is fed back tothe controller 92 and used to control the electric motor 64 and hencethe fluid pressure.

That is, the controller 92 sets a target displacement C that makesvariable the relative displacement relationship between the input piston58 and the booster piston 52 according to the detection signal (inputstroke; corresponding to the input absolute displacement detected valueA) from the potentiometer 86 and controls the electric motor 64 so thatthe relative displacement relationship (relative displacement detectedvalue B) between the input piston 58 and the booster piston 52 becomesequal to the target displacement C on the basis of the detection signal(relative displacement detected value B) from the relative displacementsensor 100.

The target displacement C is set as stated hereinbelow by using thepreviously-obtained target displacement calculation characteristic datashown in part (b) of FIGS. 4 to 10.

The controller 92 can perform constant boost control, variable boostcontrol, jump in control, brake assist control, build-up control,regenerative cooperative control, deboost control and ineffective strokereducing control by executing the above-mentioned program.

The constant boost control is a control method wherein the input piston58 and the booster piston 52 are displaced as one unit (displaced withzero relative displacement so that the booster piston 52 is always atthe above-described neutral position relative to the input piston 58) inthe same way as stated above in the section entitled “Background Art”.With the constant boost control method, assist stroke characteristicsrepresented by the solid line in part (a) of FIG. 4 can be obtained. Inpart (a) of FIG. 4, the abscissa axis represents the stroke of the inputpiston 58 (hereinafter occasionally referred to as “input stroke”), andthe ordinate axis represents the stroke of the booster piston (assistmember) 52 (hereinafter occasionally referred to as “assist stroke”).The constant boost control allows, as shown in part (c) of FIG. 4, thefluid pressure generated in the master cylinder 2 to increase with theforward movement of the input piston 58 in the form of a quadraticcurve, a cubic curve, or a multiple-order curve compounded of aquadratic or cubic curve and a curve of a higher order than them (thesecurves will hereinafter be referred to generically as “multiple-ordercurve”).

The characteristics of the constant boost control represented by thecharacteristic data shown in part (a) of FIG. 4 and the characteristicdata shown in part (c) of FIG. 4 can be expressed by target displacementcalculation characteristic data shown in part (b) of FIG. 4, in whichthe abscissa axis represents the input stroke, and the ordinate axisrepresents the relative displacement between the input piston 58 and thebooster piston 52. In part (b) of FIG. 4, the solid line represents therelative displacement between the input piston 58 and the booster piston52. If the electric motor 64 is controlled so that the relativedisplacement between the input piston 58 and the booster piston 52 isalways zero as shown by the solid line in part (b) of FIG. 4, fluidpressure characteristic shown in part (c) of FIG. 4 can be obtained.

The above-described constant boost control is similar to that stated inthe section entitled “Background Art”. The following is an explanationof various controls wherein the relative displacement relationshipbetween the input piston 58 and the booster piston 52 is made variable,which is the characteristic feature of the invention of thisapplication, i.e. variable boost control, jump in control, brake assistcontrol, build-up control, regenerative cooperative control, and deboostcontrol. It should be noted that the broke lines in parts (a), (b) and(c) of FIGS. 5 to 10 represent the characteristics of the constant boostcontrol, shown in parts (a), (b) and (c) of FIG. 4, in which the inputpiston 58 and the booster piston 52 are displaced so that the relativedisplacement therebetween is zero at all times.

First, the variable boost control is a control method in which, as shownby the solid line in part (a) of FIG. 5, the forward movement of thebooster piston 52 is accelerated relative to the forward movement of theinput piston 58, so that the relative displacement between the boosterpiston 52 and the input piston 58 increases with the forward movement ofthe input piston 58, and the rate of the increase in fluid pressuregenerated in the master cylinder 2 according to the forward movement ofthe input piston 58 (i.e. the fluid pressure characteristics increasingin the form of a multiple-order curve) correspondingly increases asshown by the solid line in part (c) of FIG. 5.

The variable boost control may include controlling theelectrically-operated actuator 53 so that the absolute displacement ofthe booster piston 52 becomes smaller than the absolute displacement ofthe input piston 58 as the input piston 58 moves in the direction forincreasing the brake fluid pressure, in addition to the above-describedcontrol (i.e. controlling the electrically-operated actuator 53 so thatthe absolute displacement of the booster piston 52 becomes larger thanthe absolute displacement of the input piston 58 as the input piston 58moves in the direction for increasing the brake fluid pressure).

The target displacement calculation characteristic data shown in part(b) of FIG. 5 is data obtained by performing verification correspondingto parts (a) and (c) of FIG. 5. For example, if the electric motor 64 iscontrolled so that one value (hereinafter occasionally referred to as“target displacement”) X1 is determined as a relative displacementcorresponding to one value ns1 of the input stroke, a fluid pressure ea1of a magnitude corresponding to the target displacement X1 is generatedin the master cylinder 2.

As shown in part (b) of FIG. 5, the relative displacement changescorresponding to the change of the input stroke, and this relativedisplacement is set as a target displacement. The fact that the targetdisplacement C (relative displacement) is variable according to thestroke of the input piston 58 is equivalent to the limitation in claim 1of “sets a target displacement that makes variable relative displacementrelationship between said input member and said assist member”. Thisapplies not only to part (b) of FIG. 5 but also to part (b) in FIGS. 6to 10.

The jump in control is a control method wherein theelectrically-operated actuator 53 is controlled such that when thepotentiometer 86 detects that the absolute displacement of the inputpiston 58 has moved from the initial position by a predetermined amountns2, the booster piston 52 is started to be displaced so that thedisplacement of the booster piston 52 becomes equal to the displacementof the input piston 58 (i.e. the booster piston 52 is displaced with azero relative displacement so that the input piston 58 assumes theneutral position relative to the booster piston 52), or so that thedisplacement of the booster piston 52 becomes larger than thedisplacement of the input piston 58. To implement the above-describedcontrol method in this embodiment, as shown in part (a) of FIG. 6, thebooster piston 52 is not displaced until the input piston 58 has beendisplaced by a predetermined amount ns2. After the displacement of theinput piston 58 by the predetermined amount ns2, the booster piston 52is rapidly displaced. Thereafter, the booster piston 52 is displacedtogether with the input piston 58 as one unit. Consequently, as shown inpart (c) of FIG. 6, no fluid pressure is generated in the mastercylinder 2 until the input piston 58 has been displaced by thepredetermined amount ns2, and after the displacement of the input piston58 by the predetermined amount ns2, a fluid pressure is rapidlygenerated in the master cylinder 2, and the fluid pressure is increasedin the form of a multiple-order curve with the forward movement of theinput piston 58. In the foregoing description, control is performed suchthat after the booster piston 52 has been rapidly displaced after thedisplacement of the input piston 58 by the predetermined amount ns2, thebooster piston 52 is displaced so as to assume the above-describedneutral position relative to the input piston 58. In this regard,control may be performed such that the booster piston 52 is displaced soas to assume a position forward of the above-described neutral positionrelative to the input piston 58.

The above-described jump in control enables the vehicle driver toreceive the feeling that the brake is working properly from a reactionon the brake pedal 8 caused by an increase in fluid pressure in theearly stage of depressing the brake pedal 8. Hence, it is possible togive a favorable brake feeling to the driver.

In the brake assist control, as shown in part (a) of FIG. 7, as theinput piston 58 moves forward, the booster piston 52 is displacedtogether with the input piston 58 as one unit until a first condition(input stroke response type brake assist control) is met such that theabsolute displacement of the input piston 58 has reached a predeterminedamount ns3 (here, the predetermined amount ns3 is larger than thepredetermined amount ns2 used in the above-described jump in control) oruntil a second condition (input speed response type brake assistcontrol) is met such that the speed of movement of the input piston 58is judged to have reached a predetermined speed. After the first orsecond condition has been met, the electric motor 64 is operated, sothat the booster piston 52 is further moved forward by an amountcorresponding to an amount by which the motor 64 is operated.Consequently, as shown in parts (b) and (c) of FIG. 7, as the amount ofthe forward movement of the booster piston 52 caused by the operation ofthe electric motor 64 becomes larger than that of the forward movementof the input piston 58, the fluid pressure supplied to the mastercylinder 2 increases in the form of a multiple-order curve.

The solid lines in FIG. 7 represent characteristics obtained in a casewhere the booster piston 52 is instantaneously moved forward by apredetermined amount of relative displacement after the first or secondcondition has been met, and thereafter, the booster piston 52 is movedsynchronously with the movement of the input piston 58. The alternatelong and short dash lines represent characteristics obtained when theabove-described variable boost control is performed after the first orsecond condition has been met. The brake assist control enables theboost ratio to be changed to a larger one to apply emergency brake whena sudden braking operation by the vehicle driver is perceived. It shouldbe noted that only either the first or second condition may be used. Itis also possible to control such that the amount of movement of thebooster piston 52 after the first or second condition has been met ismaximized to apply full brake.

The build-up control is, as shown in FIG. 8, a control method whereinthe electrically-operated actuator 53 is controlled so that the boosterpiston 52 is displaced relative to the input piston 58 by apredetermined amount of relative displacement in the direction forincreasing the brake fluid pressure, as shown in part (b) of FIG. 8,when it is judged from the absolute displacement of the input piston 58that the movement of the input piston 58 in the direction for increasingthe brake fluid pressure has stopped, i.e. when it is judged that, asshown in part (d) of FIG. 8, the amount of movement of the input piston58 is within a predetermined stroke width ns4, or the input speed V ofthe input piston 58 has a value near zero (not shown), and this state isjudged to have continued for a predetermined time t0.

To implement the build-up control in this embodiment, as shown in part(a) of FIG. 8, when it is detected that the depression of the brakepedal has stopped, the booster piston 52 is gradually moved forwardrelative to the input piston 58, thereby allowing the fluid pressuregenerated in the master cylinder 2 to be gradually increased with theforward movement of the booster piston 52, as shown in part (d) of FIG.8.

The above-described build-up control enables the vehicle driver toreceive the feeling that the brake is working properly from a reactionon the brake pedal caused by an increase in fluid pressure when he orshe stops depressing the brake pedal. Hence, it is possible to give afavorable brake feeling to the driver.

The regenerative cooperative control is a control method wherein thefluid pressure generated in the master cylinder 2 is reduced by anamount corresponding to a braking (regenerative braking) force generatedduring regeneration of a power motor of a hybrid automobile. As shown inpart (a) of FIG. 9, the booster piston 52 is moved forward with a delayto the forward movement of the input piston 58. In other words, thebooster piston 52 is moved backward relative to the input piston 58.Thus, as shown in part (c) of FIG. 9, the rate of multiple-ordercurve-like increase in fluid pressure generated in the master cylinder 2is reduced, thereby reducing the fluid pressure by an amountcorresponding to the regenerative braking force.

As shown in part (b) of FIG. 9, the relative displacement increases inthe minus direction (i.e. the direction in which the booster piston 52moves backward as the input piston 58 moves forward) with the change ofthe input stroke and becomes constant when the spring 85A has fullycontracted. In other words, control is performed such that the boosterpiston 52 moves backward as the input piston 58 moves forward, and whenthe spring 85A has fully contracted, the booster piston 52 moves forwardtogether with the input piston 58. It should be noted that the relativedisplacement in this case changes according to the regenerative brakingforce. Part (b) of FIG. 9 merely shows one example of the change of therelative displacement when the regenerative cooperative control isperformed.

The above-described regenerative cooperative control enables a fluidpressure to be generated in the master cylinder 2 according to theregenerative braking force and hence can give a comfortable brakefeeling to the driver.

The deboost control is a control method wherein, as shown in part (a) ofFIG. 10, the booster piston 52 is moved backward relative to the inputpiston 58, thereby obtaining characteristics with which the fluidpressure generated in the master cylinder 2 increases in directproportion to the stroke of the input piston 58, as shown in part (c) ofFIG. 10. As shown in part (b) of FIG. 10, after the input piston 58 hasmoved forward to a certain extent, the relative displacement graduallyincreases in the form a quadratic curve in the minus direction (i.e. thedirection in which the booster piston 52 moves backward as the inputpiston 58 moves forward). In other words, control is performed such thatafter the booster piston 52 has moved forward to a certain extent withthe forward movement of the input piston 58 while keeping the neutralposition relative to the input piston 58, the booster piston 52gradually moves backward.

The controller 92 executes the program according to the detection signalfrom the potentiometer 86 and the detection signal from the relativedisplacement sensor 100. In the course of executing the program, thecontroller 92 selectively uses the characteristic data shown in part (b)of FIGS. 4 to 10 and in part (d) of FIG. 9 to perform computation andcontrol shown in the flowcharts of FIGS. 11 to 17 (described later). Itshould be noted that the characteristic data shown in part (b) of FIGS.5 to 10 and in part (d) of FIG. 9 is merely one example. Thecharacteristics each change according to various conditions.

As has been stated above, the displacement (forward and backwardmovement) of the booster piston 52 is added to the displacement of theinput piston 58 to adjust the fluid pressure in the master cylinder. Thefluid pressure adjustment is performed with the pressure equilibriumrelationship represented by Equation (1).

Each element in the pressure equilibrium equation (1) is, as shown alsoin FIG. 2, as follows.

-   -   Pb: the brake fluid pressure in the pressure chamber (primary        chamber) 13 in the master cylinder 2;    -   Fi: input thrust;    -   Fb: booster thrust;    -   Ai: the pressure-receiving area of the input piston 58;    -   Ab: the pressure-receiving area of the booster piston 52;    -   K: spring constant of the springs 85 (85A and 85B);    -   ΔX: the relative displacement between the input piston 58 and        the booster piston 52.

The relative displacement ΔX is defined as ΔX=Xi−Xb, where Xi is thedisplacement of the input piston 58, and Xb is the displacement of thebooster piston 52. Accordingly, ΔX is zero at the neutral position ofthe relative movement, and has a positive sign in the direction in whichthe booster piston 52 moves backward relative to the input piston 58 anda negative sign in the direction opposite to the above. It should benoted that in the pressure equilibrium equation (1) sliding resistanceof seals is ignored. In the pressure equilibrium equation (1), thebooster thrust Fb can be estimated from the current value of theelectric motor 64.Pb=(Fi−K×ΔX)/Ai=(Fb+K×ΔX)/Ab  (1)

Meanwhile, the boost ratio α is given by the following Equation (2).Accordingly, if Pb in the pressure equilibrium equation (1) issubstituted into Equation (2), the boost ratio α is given by thefollowing Equation (3).α=Pb×(Ab+Ai)/Fi  (2)α=(1−K×ΔX/Fi)×(Ab/Ai+1)  (3)

In this case, to perform the constant boost control, which is thebackground art of the present invention, the rotation of the electricmotor 64 is controlled (feedback control) so that the relativedisplacement ΔX becomes zero on the basis of the detection result of thepotentiometer 86. Consequently, the boost ratio α is given by α=Ab/Ai+1and thus uniquely determined by the pressure-receiving area Ab of thebooster piston 52 and the pressure-receiving area Ai of the input piston58 (FIG. 4) in the same way as vacuum boosters and the background art.

In contrast to the above, if the relative displacement ΔX is set at anegative predetermined value and the rotation of the electric motor 64is controlled so that the relative displacement ΔX becomes equal to theabove-described predetermined value, i.e. so that as the input piston 58moves in the direction for increasing the brake fluid pressure, theabsolute displacement of the booster piston 52 becomes larger than theabsolute displacement of the input piston 58, the boost ratio α becomes(1−K×ΔX/Fi) times as large. In other words, the boost ratio becomesvariable and the electrically-operated actuator 53 functions as a boostsource. Thus, it becomes possible to reduce the brake pedal depressingforce to a considerable extent.

The controller 92 executes the flowcharts of FIGS. 11 to 17 to performcomputation and control, as stated above. The computation and controlcontents will be explained below with reference to FIGS. 11 to 17.

The controller 92 executes at a predetermined cycle a basic flowincluding steps S1 to S4 shown in FIG. 11.

At step S1 in FIG. 11, the controller reads an input absolutedisplacement detected value A detected by the potentiometer 86. At stepS2 subsequent to step S1, a target displacement C based on the inputabsolute displacement detected value A is calculated by using the targetdisplacement calculation characteristic data shown in part (b) of FIGS.5 to 10.

At step S3 subsequent to step S2, the controller reads a relativedisplacement detected value B detected by the relative displacementsensor 100.

At step S4 subsequent to step S3, the electric motor 64 and thetransmission mechanism are controlled so that the relative displacementdetected value B becomes equal to the target displacement C (B=C orC−B=0).

Control is performed by carrying out each step as stated above. In thevariable boost control, the jump in control and the input strokeresponse type brake assist control, the target displacement C iscalculated depending on the input stroke. Therefore, control can beperformed by executing the above-described basic flow. In the inputspeed response type brake assist control and the build-up control, thetarget displacement C is calculated depending on the input speed andtime in addition to the input stroke. In the regenerative cooperativecontrol, the target displacement C is calculated depending on theregenerative braking force. For these control methods, control cannot beperformed simply by executing the basic flow, in which the targetdisplacement C is calculated depending on only the input stroke.Therefore, the flowcharts shown in FIGS. 12 to 15 are executed toimplement the above-described control methods.

The flowchart of FIG. 12 has steps S101 to S107 in place of step S2 ofthe basic flow shown in FIG. 11.

Step S101 is executed subsequently to step S1, as shown in FIG. 12, tojudge whether or not there is an Input Speed BA flag that is generatedby an Input Speed BA flag generation flow shown in FIG. 13, which isrunning in parallel to this flow. If “YES” is the answer at step S101, atarget displacement C1 is calculated (step S102) by using the targetdisplacement calculation characteristic data for [Brake Assist Control]shown in part (b) of FIG. 7, etc., and the process proceeds to step S3.

If “NO” is the answer at step S101, it is judged (step S103) whether ornot there is a Build-Up flag that is generated by a Build-Up flaggeneration flow shown in FIG. 14, which is running in parallel to thisflow. If “YES” is the answer at step S103, a target displacement C2 iscalculated (step S104) by using the target displacement calculationcharacteristic data for [Build-Up Control] shown in part (b) of FIG. 8,etc., and the process proceeds to step S3.

If “NO” is the answer at step S103, it is judged (step S105) whether ornot there is a Regenerative Cooperative flag that is generated by aRegenerative Cooperative flag generation flow shown in FIG. 15, which isrunning in parallel to this flow. If “YES” is the answer at step S105, atarget displacement C3 is calculated (step S106) by using the targetdisplacement calculation characteristic data for [RegenerativeCooperative Control] shown in part (b) of FIG. 9, etc., and the processproceeds to step S3.

If “NO” is the answer at step S105, a target displacement C4 iscalculated (step S107) by using the target displacement calculationcharacteristic data for [Variable Boost Control] shown in part (b) ofFIG. 5, etc., and the process proceeds to step S3. In this embodiment,the order of execution of steps S101, S103 and S105 is determined sothat a control process having a higher emergency level is preferentiallyexecuted. However, in a case where these steps can be carried out in anyorder, for example, step S103 may be executed after step S105.

Although in this embodiment the target displacement calculationcharacteristic data for [Variable Boost Control] shown in part (b) ofFIG. 5 is used to calculate a target displacement C4 at step S107, thetarget displacement calculation characteristic data for [Jump InControl] shown in part (b) of FIG. 6 may be used in place of thecharacteristic data for [Variable Boost Control]. It is also possible touse the target displacement calculation characteristic data for [BrakeAssist Control] shown in part (b) of FIG. 7 to perform the input strokeresponse type brake assist control. It is also possible to use combineddata comprising those shown in respective parts (b) of FIGS. 5 and 6, orcombined data comprising those shown in respective parts (b) of FIGS. 5and 7, or combined data comprising those shown in respective parts (b)of FIGS. 6 and 7, or combined data comprising all data shown inrespective parts (b) of FIGS. 5 to 7.

The Input Speed BA flag generation flow shown in FIG. 13, the Build-Upflag generation flow shown in FIG. 14, and the Regenerative Cooperativeflag generation flow shown in FIG. 15 are executed in parallel to theabove-described flow shown in FIG. 12.

In the Input Speed BA flag generation flow, as shown in FIG. 13, aninput absolute displacement detected value A detected by thepotentiometer 86 is read (step S201).

Next, it is checked whether or not the Input Speed BA flag is off (stepS202). If “YES” is the answer at step S202, an input speed V iscalculated by the operation of the differentiating circuit 102 (stepS203).

Subsequently, it is judged whether or not the input speed V is greaterthan a predetermined value V0 (step S204). If “YES” is the answer atstep S204, it is judged that the vehicle driver wishes a sudden brakingoperation. Then, the Input Speed BA flag is turned on (step S205), andthe process returns to repeat this flow. If “NO” is the answer at stepS204, the process returns to repeat this flow.

If “NO” is the answer at step S202, it is judged whether or not thebrake assist control that is in operation is now unnecessary fromwhether or not a brake assist control cancellation condition has beenmet (e.g. a predetermined condition that the input piston 58 has beenmoved backward, which can be judged from the input absolute displacementdetected value A, or the vehicle speed has reached substantially zero)(step S207).

If “YES” is the answer at step S207, the brake assist control isunnecessary. Therefore, the Input Speed BA flag is turned off (stepS208), and the process returns to repeat this flow. If “NO” is theanswer at step S207, the process returns to repeat this flow in order tocontinue the brake assist control.

In the Build-Up flag generation flow, as shown in FIG. 14, an inputabsolute displacement detected value A detected by the potentiometer 86is read (step S301).

Next, an input speed V is calculated by the operation of thedifferentiating circuit 102 (step S302).

Subsequently, it is judged whether or not the input speed V (may be notonly a positive value but also a negative value) is a value near zero(step S303). If “YES” is the answer at step S303, time counting start orcontinuation processing using a timer is executed (step S304).

Next, it is judged (step S305) on the basis of the time counted by thetimer whether or not a predetermined time t0 [see part (d) of FIG. 8]has elapsed since the input speed V was judged to be a value near zero.

If “YES” is the answer at step S305, the Build-Up flag is turned on(step S306), and the process returns to repeat this flow.

If “NO” is the answer at step S305, the time is counted up (step S307),and the process returns to enable the time counting to be continued.

If “NO” is the answer at step S303, the Build-Up flag is turned off(step S308), and the timer is cleared (step S309), and the processreturns.

In the above-described control process, an input speed V is calculatedat step S302, and whether or not the input speed V is a value near zerois judged at step S303 as a condition for turning on the Build-Up flag.In addition to this, it is also possible to judge whether or not theamount of movement of the input piston 58 is within a predeterminedstroke width ns4 shown in part (d) of FIG. 8 on the basis of the inputabsolute displacement detected value A read at step S301.

In the Regenerative Cooperative flag generation flow, as shown in FIG.15, it is judged (step S401) whether or not there is an input of aregeneration command (including a regeneration pressure reductionquantity ΔP) from a higher-level ECU (higher-level control system)concerning a braking operation performed by a regenerative brakingsystem (not shown). If “YES” is the answer at step S401, theRegenerative Cooperative flag is turned on (step S402), and the processreturns.

If “NO” is the answer at step S401, the Regenerative Cooperative flag isturned off (step S403), and the process returns.

When the Regenerative Cooperative flag is on, step S106 in FIG. 12 isexecuted to perform control as shown in FIG. 16: A regeneration pressurereduction quantity ΔP from the higher-level ECU is read (step S404).Next, an input absolute displacement detected value A detected by thepotentiometer 86 is read (step S405). It should be noted that thedetected value read at step S405 is denoted by A1 for the sake ofexplanation. Subsequently to step S405, a fluid pressure P1corresponding to the input absolute displacement detected value A1 iscalculated by using characteristic data represented by the dotted linein part (d) of FIG. 9 among characteristic data showing the relationshipbetween the fluid pressure and the input stroke and relativedisplacement, and the solid-line characteristic data L1 is selected(step S406). It should be noted that the characteristics represented bythe dotted line in part (d) of FIG. 9 are the same as thecharacteristics represented by the solid line in part (c) of FIG. 4. Thesolid-line characteristics in part (d) of FIG. 9 show the relationshipbetween the fluid pressure and the relative displacement at a certainpoint on the dotted line characteristic curve. Although only twosolid-line characteristic data L1 and L2 are shown in part (d) of FIG.9, in actuality, there are a large number of data, one at each point onthe dotted-line characteristic curve. Next, a relative displacement −X2corresponding to a fluid pressure P2 obtained by subtracting ΔP from thefluid pressure P1 is calculated by using the solid-line characteristicdata L1 selected above (step S407). The relative displacement −X2indicates a relative displacement when the input absolute displacementdetected value A1 is assumed to be a relative displacement of zero.Subsequently to step S407, −X2 is set as a target displacement C3 (stepS408), and the process returns.

The regenerative cooperative control shown in FIG. 16 enables theelectrically-operated actuator 53 to be controlled so that the boosterpiston 52 is displaced relative to the input piston 58 in the directionfor reducing the brake fluid pressure as shown in part (c) of FIG. 9.Thus, a desired braking force can be generated with the brake fluidpressure reduced by an amount corresponding to the regenerative brakingforce.

Next, the ineffective stroke reducing control flow for eliminating theineffective stroke of the master cylinder 2 will be explained withreference to FIG. 17. The ineffective stroke reducing control isexecuted in parallel or as an interrupt to the above-described flowshown in FIG. 11 or 12. Steps S502 and S503, step S504, step S505, andstep S506, which constitute the ineffective stroke reducing controlflow, respectively correspond to step S2, step S1, step S3, and step S4of the basic flow shown in FIG. 11.

In the ineffective stroke reducing control flow, first, it is judgedwhether or not an accelerating operation is being conducted from whetheror not there is an input of a detection signal relating to the operationof the accelerator pedal (step S501). If “NO” is the answer at stepS501, i.e. acceleration is off, the target displacement C is set to avalue C5 (step S502). If “YES” is the answer at step S501, i.e.acceleration is on, the target displacement C is set to a value zero(step S503). It should be noted that the value C5 is a relativedisplacement corresponding to the ineffective stroke of the mastercylinder 2.

Subsequently to step S502 or S503, an input absolute displacementdetected value A detected by the potentiometer 86 is read (step S504).

At step S505 subsequent to step S504, a relative displacement detectedvalue B detected by the relative displacement sensor 100 is read.

Next, at step S506, the electric motor 64 is controlled so that therelative displacement detected value B becomes equal to the targetdisplacement C, and the process returns.

In the master cylinder 2 of this embodiment, no brake fluid pressure isgenerated in the master cylinder 2 until the through-hole 18 has passedover the inner seal member 16 of the master cylinder 2 as a result ofthe forward movement of the booster piston 52, i.e. until the reliefport 15 is closed. Hence, the cylinder stroke is ineffective during theinitial period of booster operation. In this embodiment, however, theineffective stroke reducing control shown in FIG. 17 is executed tocontrol the electric motor 64 so as to move forward the booster piston52 to a position past the seal member 16 before the brake is actuallyactivated, thereby allowing elimination of the ineffective stroke.Although at the above-described step S501 whether or not there is aninput of a detection signal relating to the operation of the acceleratorpedal is judged, it should be noted that the present invention is notnecessarily limited thereto. The control may be performed such thatwhether the engine throttle is open or closed is judged by using athrottle sensor, and when the engine throttle is closed, the targetdisplacement C is set to a value C5 , whereas when it is open, thetarget displacement C is set to zero.

In the foregoing explanation, the controller performs constant boostcontrol, variable boost control, jump in control, brake assist control,build-up control, regenerative cooperative control, deboost control, andineffective stroke reducing control. It should be noted that thecontroller may perform other control process. It is also possible toperform a part of the above-described control processes, includingdisplacement control in which the relative displacement relationshipbetween the input piston 58 and the booster piston 52 is made variable,such as the variable boost control, the brake assist control, etc.

The electrically actuated booster 50 arranged as stated above can obtainvarious brake characteristics, for example, brake assist controlcharacteristics, by performing displacement control such that therelative displacement relationship between the input piston 58 and thebooster piston 52 is variable according to a detection signal from thepotentiometer 86. In view of the fact that the change in fluid pressurewith the stroke is, in general, smaller in a low fluid pressure regionthan in a high fluid pressure region, the displacement control in whichthe stroke is controlled has the advantage that braking in the low fluidpressure region, which is frequently used for brakes, can be performedwith high accuracy.

Further, because the input piston 58 is adapted to receive a part of areaction caused by the brake fluid pressure, the following advantage canbe obtained. That is, the fluid pressure generated according to thestroke of the input piston 58 can be increased or reduced by changingthe relative positional relationship between the input piston 58 and thebooster piston 52, and the brake pedal depressing force relative to thestroke of the input piston 58 can be changed according to the increaseor reduction in fluid pressure. Thus, the relationship between thestroke of the input piston 58 on the one hand and on the other the fluidpressure and the brake pedal depressing force can be adjusted asdesired.

In addition, a desired boost ratio is obtained by controlling theelectrically-operated actuator 53 on the basis of a signal from therelative displacement sensor 100 so that the relative displacementbetween the booster piston 52 and the input piston 58 becomes equal toan arbitrary predetermined value. Accordingly, it becomes unnecessary touse a costly brake pedal depressing force sensor as required in theconventional technique. Thus, the cost can be reduced correspondingly.Further, it is possible to obtain a boost ratio larger or smaller than aboost ratio determined by the pressure-receiving area ratio between thebooster piston 52 and the input piston 58 by controlling theelectrically-operated actuator 53 so that the relative displacementbetween the booster piston 52 and the input piston 58 becomes equal toan arbitrary predetermined value. Hence, braking force based on thedesired boost ratio can be obtained.

Next, an electrically actuated booster 50A according to a secondembodiment of the present invention will be explained on the basis ofFIGS. 18 to 20 and with reference to the first embodiment (FIGS. 1 to17).

The electrically actuated booster 50A according to the second embodimentdiffers from the electrically actuated booster 50 according to the firstembodiment as follows. In the electrically actuated booster 50A, asshown in FIGS. 18 and 19, the relative displacement sensor 100 is notused. A controller 92A is provided in place of the controller 92, andthe controller 92A is provided with a relative displacement detectingcircuit substituting for the relative displacement sensor 100 in thefirst embodiment. In addition, the electrically actuated booster 50Auses a basic flow shown in FIG. 20 in place of the basic flow (FIG. 11)in the first embodiment. It should be noted that the rest of theelectrically actuated booster 50A is the same as in the firstembodiment.

The relative displacement detecting circuit is provided in thecontroller 92A to detect a relative displacement [hereinafteroccasionally referred to as “relative displacement detected value(D−A)”] between the booster piston 52 and the input piston 58 on thebasis of an absolute displacement (hereinafter occasionally referred toas “assist absolute displacement detected value D”) of the boosterpiston 52 relative to the vehicle body and a detection signal (inputabsolute displacement detected value A) from the potentiometer 86. Theabsolute displacement of the booster piston 52 is computed from therotational displacement of the electric motor 64 detected by a resolver(assist absolute displacement detecting means) 91 provided to controlthe rotation of the electric motor 64. It should be noted that apotentiometer (displacement sensor) that detects the absolutedisplacement of the booster piston 52 may be used as the assist absolutedisplacement detecting means in place of the resolver 91 to obtain theabsolute displacement of the booster piston 52.

The basic flow shown in FIG. 20 is provided with steps S603 and S604 inplace of steps S3 and S4 in the basic flow shown in FIG. 11. At stepS603, the above-described assist absolute displacement detected value Dis read. At step S604, the electric motor 64 and the transmissionmechanism [the rotation transmission mechanism 66 and the ball screwmechanism 65 (the nut member 68 and the screw shaft 70)] are controlledso that the relative displacement detected value (D−A) becomes equal tothe target displacement C (D−A=C).

It should be noted that control based on the flowcharts of FIGS. 12 to17 can be performed by applying steps S603 and S604 in FIG. 20 to stepsS3 and S4 in FIG. 12 and steps S505 and S506 in FIG. 17.

The second embodiment offers the same advantageous effects as those inthe foregoing first embodiment.

FIG. 21 shows an electrically actuated booster 50B as a modification ofthe second embodiment. The electrically actuated booster 50B differs toa considerable extent from the second embodiment in that an input piston(input member) 326 and a booster piston (assist member) 329 do not facethe pressure chamber 13 of the tandem master cylinder 2, and in that nosprings 85 are provided between the input piston 326 and the boosterpiston 329 to urge the input piston 326 toward the neutral position.

The input piston 326 is secured at one end thereof to a pedal-side inputshaft 20. The other end of the input piston 326 and the other end of thebooster piston 329 are inserted in a fluid pressure chamber 327 formedin one end portion of a primary piston 321 of the master cylinder 2 toseal a fluid therein. The input piston 326 is slidably disposed in thebooster piston 329 driven by the electric motor 64 and the nut member68. Both the input piston 326 and the booster piston 329 are sealed withseal members (not shown). Reference numeral 320 in FIG. 21 denotes acaliper provided for each wheel.

In the electrically actuated booster 50B shown in FIG. 21, therelationship between the input and output strokes when the input piston326 and the booster piston 329 keep a constant relative displacementrelationship may be given by the following Equation (4). Therelationship between the input and the output may be given by thefollowing Equation (5), where Ai and Ab are the respective areas of theinput piston 326 and the booster piston 329 that face the fluid pressurechamber 327.Xout=Xi(=Xb)  (4)Fout=Fi(Ai+Ab)/Ai  (5)

where:

Xi is the input stroke;

Xout is the output stroke of the primary piston 321;

Fout is the output of the primary piston 321; and

Fi is the input of the pedal-side input shaft 20.

Hence, the boost ratio α, which is the ratio of the output Fout to theinput Fi, may be given by the following Equation (6) from the aboveEquation (5).α=Fout/Fi=(Ai+Ab)/Ai  (6)

As will be clear from Equation (6), the boost ratio α in thismodification is a constant value at all times.

The operation of the electrically actuated booster 50B shown in FIG. 21is as follows. Even if the relative position between the input piston326 and the booster piston 329 is shifted, if the position of thepedal-side input shaft 20 at that time is kept, the output Fout of theprimary piston 321 increases or decreases by an amount corresponding tothe relative movement of the booster piston 329 controlled by theelectric motor 64. Consequently, the relationship between the inputstroke Xi and the output Fout of the primary piston 321 is that shown inFIG. 22. That is, it is possible to obtain a desired relationshipbetween the input stroke Xi and the output Fout and hence the fluidpressure (=output Fout/the area of the primary piston 321) by shiftingthe relative position among the curves a, b and c shown in FIG. 22. Thecurve a in FIG. 22 represents characteristics obtained when the inputpiston 326 and the booster piston 329 are at the neutral position. Thecurve b in FIG. 22 represents characteristics when the booster piston329 is at a position moved backward relative to the input piston 326.The curve c in FIG. 22 represents characteristics when the boosterpiston 329 is at a position moved forward relative to the input piston326. Let us consider a situation where the input piston 326 and thebooster piston 329 are in the neutral position and the input piston 326is moved forward by a certain amount in response to the depression ofthe brake pedal. In this state, if the booster piston 329 is movedforward by a predetermined amount with the input piston 326 kept at thepresent position, the characteristics in FIG. 22 shifts from a to c.Consequently, the output Fout and hence the fluid pressure that isgenerated according to the stroke of the input piston 326 increases.Thus, it is possible to realize short-stroke pedal feeling (i.e. ashorter stroke is required to obtain a given output). In addition, thereaction acting on the input piston 326 increases with the increase influid pressure, and hence the pedal depressing force for the stroke ofthe input piston 326 increases. Thus, the pedal depressing force for thestroke of the input piston 326 can also be changed and therefore can beadjusted as desired.

The operation is as follows. A relative displacement (D−A) between thepedal-side input shaft 20 (the input piston 326) and the booster piston329 is obtained from the difference between the detection signals fromthe potentiometer 86 and the resolver 91, and control is performed sothat the displacement of the booster piston 329 is larger than thedisplacement of the pedal-side input shaft 20 on the basis of adeviation of the relative displacement (D−A) from a predetermined targetdisplacement. Thus, a favorable assist function can be realized.

It should be noted that in this modification no springs 85 are providedbetween the input piston 326 and the booster piston 329 to urge theinput piston 326 toward the neutral position. However, if such springs85 are provided, the control process shown in FIGS. 11 and 12 can beperformed even if the other ends of the input piston 326 and the boosterpiston 329 do not face the pressure chamber 13 of the master cylinder 2as shown in FIG. 21.

In the first and second embodiments shown in FIG. 1 and FIGS. 18 and 21,the potentiometer 86 is used as the input absolute displacementdetecting means to obtain an input absolute displacement, by way ofexample. In this regard, the following input absolute displacementdetecting means may be used in place of the potentiometer 86. That is,an input absolute displacement may be estimated (obtained) by using afluid pressure sensor that detects the fluid pressure in the pressurechamber 13 of the master cylinder 2, or a pedal depressing force sensorthat detects a depressing force applied to the brake pedal 8, or acurrent sensor that detects an electric current supplied to the motor64. The fact that the input absolute displacement can be estimated(obtained) by using the fluid pressure sensor, the pedal depressingforce sensor or the current sensor will be explained below withreference to FIG. 23.

In FIG. 23, let us examine the above-described fact by replacing therelationship between the pressure chambers 13 and 14 of the mastercylinder 2 and the rigidity of all load-side elements such as pipingcommunicating with the pressure chambers 13 and 14 and disk brakes (i.e.relationship between the fluid quantity and the generated fluidpressure) with the relationship between a master cylinder pressurechamber 2A on the one hand and on the other the displacement Xm of apiston 2B having a cross-sectional area equal to the cross-sectionalarea (Ai+Ab) of the master cylinder pressure chamber 2A and the springconstant Kd of a spring element 2C attached to the piston 2B. In thiscase, the displacements (strokes) of the input piston 58 and the boosterpiston 52 are represented by Xi and Xb, respectively. The force (inputthrust) finally generated by the input piston 58 at a part thereoffacing the master cylinder pressure chamber 2A is represented by Fi, andthe force (booster thrust) finally generated by the booster piston 52 ata part thereof facing the master cylinder pressure chamber 2A isrepresented by Fb.

The spring constant of the springs 85 (85A and 85B) is represented by K,the output of the screw shaft 70 by FbO and the brake pedal depressingforce by FiO.

It should be noted that the relative displacement ΔX=Xi−Xb is alreadyknown because the first embodiment has the relative displacement sensor100 and the second embodiment has the relative displacement detectingcircuit in the controller 92A.

(A1) Regarding the fact that the input absolute displacement can beestimated (obtained) by using the fluid pressure sensor as the inputabsolute displacement detecting means:

The stroke Xi of the input piston 58 and the stroke Xb of the boosterpiston 52 cause a relative displacement of Xi−Xb=ΔX (known), and a fluidquantity change (volume change) ΔV given by Equation (7) occurs in thepressure chamber 2A correspondingly to the relative displacement.

Equation (7) may be changed to obtain Equation (8).ΔV=Xb−Ab+Xi·Ai=(Xi−ΔX)Ab+Xi·Ai=Xi(Ab+Ai)−ΔX·Ab  (7)Xi=(ΔV+ΔX·Ab)/(Ab+Ai)  (8)

Meanwhile, the relationship between the fluid quantity (volume) V in thepressure chamber 2A and the fluid pressure Pb in the pressure chamber 2Amay be represented by a multiple-order curve [Pb=f(V)] as shown in thegraph of FIG. 24, in which the fluid quantity V is represented by theabscissa axis and the fluid pressure Pb by the ordinate axis. Becausethis corresponding relationship holds, if a fluid pressure Pb isdetected, a fluid quantity V corresponding to the fluid pressure Pb canbe obtained. A fluid quantity change (volume change) ΔV when the inputpiston 58 and the booster piston 52 have moved from the initial positionto a specific position is the same as the fluid quantity V at thespecific position. Therefore, if the fluid pressure Pb at that time isdetected, a fluid quantity change ΔV corresponding to the fluid pressurePb can be obtained.

Accordingly, if the fluid pressure sensor calculates a fluid pressurePb, a fluid quantity change (volume change) ΔV can be obtained from theabove-described Pb−ΔV corresponding relationship [Pb=f(ΔV)]. Bysubstituting the fluid quantity change ΔV and the relative displacementΔX, which is known, into Equation (8), the stroke Xi of the input piston58 can be calculated. It should be noted that the characteristicsgradually change with aging such as wear of disk brake pads. In thisregard, the multiple-order curve showing the Pb−ΔV characteristics inFIG. 24 can be approximated to the actual characteristics by properlycorrecting it, for example, by the factors of mileage and the number oftimes of braking.

(B1) Regarding the fact that the input absolute displacement can beestimated (obtained) by using the brake pedal depressing force sensor asthe input absolute displacement detecting means:

The stroke Xi of the input piston 58 and the stroke Xb of the boosterpiston 52 cause a relative displacement of Xi−Xb=ΔX (known). On thisoccasion, the fluid pressure Pb in the pressure chamber 2A is given byEquation (9).Pb=Fi/Ai=(FiO−K·ΔX)/Ai  (9)

On the basis of Equation (9) and the above-described Pb−ΔV correspondingrelationship [Pb=f(ΔV)], the fluid quantity change (volume change) ΔVcan be obtained from the brake pedal depressing force FiO detected bythe brake pedal depressing force sensor.

Therefore, by applying the fluid quantity change ΔV thus obtained toEquation (8) in the same way as the above (A1), the stroke Xi of theinput piston 58 can be calculated. In other words, the stroke Xi of theinput piston 58 can be calculated from the data (depressing force FiO)detected by the brake pedal depressing force sensor.

(C1) Regarding the fact that the input absolute displacement can beestimated (obtained) by using the current sensor as the input absolutedisplacement detecting means:

The stroke Xi of the input piston 58 and the stroke Xb of the boosterpiston 52 cause a relative displacement of Xi−Xb=ΔX (known). On thisoccasion, the fluid pressure Pb in the pressure chamber 2A is given byEquation (10).Pb=Fb/Ab=(FbO+K·ΔX)/Ab  (10)

On the basis of Equation (10) and the above-described Pb−ΔVcorresponding relationship [Pb=f(ΔV)], the fluid quantity change (volumechange) ΔV can be obtained from the booster thrust Fb, i.e. the electriccurrent supplied to the motor 64, which is the source of generating thebooster thrust Fb. The electric current is detected with the currentsensor.

Therefore, by applying the fluid quantity change ΔV thus obtained toEquation (8) in the same way as the above (A1), the stroke Xi of theinput piston 58 can be calculated. In other words, the stroke Xi of theinput piston 58 can be calculated from the data (current value) detectedby the current sensor.

Next, an electrically actuated booster 50C according to a thirdembodiment of the present invention will be explained on the basis ofFIGS. 25 and 26 and with reference to the first embodiment (FIGS. 1 to17).

The electrically actuated booster 50C according to the third embodimentdiffers from the first embodiment mainly in the following points: (i)The controller 92 of the first embodiment uses data detected by therelative displacement sensor 100 for feedback control; and (ii) to set atarget displacement C, the controller 92 uses characteristic data inpart (b) of FIGS. 4 to 10 stored in the memory 101 in advance. In thethird embodiment, a controller 92C is provided in place of thecontroller 92. (ic) The controller 92C uses data (assist absolutedisplacement detected value D) detected by the resolver 91 for feedbackcontrol; and (iic) to set a target displacement C, the controller 92Cuses characteristic data in part (a) of FIGS. 4 to 10 stored in thememory 101 in advance.

In FIG. 25, the controller 92C sets the absolute displacement of thebooster piston 52 as a target displacement (hereinafter referred to as“assist target displacement E”) according to the detection signal fromthe potentiometer 86 so that the relative displacement relationshipbetween the input piston 58 and the booster piston 52 becomes variable.To set the assist target displacement E, the controller usescharacteristic data in part (a) of FIGS. 4 to 10 stored in the memory101 in advance. The assist target displacement E is obtained as anassist stroke relative to the input stroke from the characteristic datain part (a) of FIGS. 4 to 10. That is, the assist target displacement Eis obtained from the relative corresponding relationship between theinput stroke and the assist stroke and hence per se includes therelative displacement relationship between the input piston 58 and thebooster piston 52.

The electrically actuated booster 50C according to the third embodimentof the present invention is similar to the electrically actuated booster50 according to the first embodiment in the following points: A targetdisplacement (assist target displacement E) that makes variable therelative displacement relationship between the input piston 58 and thebooster piston 52 is set according to the detection signal from thepotentiometer 86 (claim 1); and the electric motor 64 is controlled sothat the relative displacement relationship between the input piston 58(input member) and the booster piston 52 (assist member) becomes equalto the target displacement (assist target displacement E) (claim 1).These points correspond to what is claimed in claim 1.

The control system of the electrically actuated booster 50C, includingthe controller 92C, is arranged as shown in FIG. 25 corresponding toFIG. 3. The controller 92C is adapted to execute a basic flow shown inFIG. 26.

At step S701 in FIG. 26, an input absolute displacement detected value Adetected by the potentiometer 86 is read. At step S702 subsequent tostep S701, an assist target displacement E, which is an absolutedisplacement of the booster piston 52, is calculated by using the inputstroke-assist stroke characteristics shown in part (a) of FIGS. 4 to 10(the assist target displacement E per se includes the relativedisplacement relationship between the input piston 58 and the boosterpiston 52, as stated above).

At step S703 subsequent to step S702, an assist absolute displacementdetected value D detected by the resolver 91 is read.

At step S704 subsequent to step S703, the controller controls theelectric motor 64 (the electrically-operated actuator 53) so that theassist absolute displacement detected value D becomes equal to theassist target displacement E (D=E or E−D=0).

In the first and second embodiments, the relative displacement issubjected to feedback control, whereas, in the third embodiment, theabsolute displacement of the booster piston 52 is feedback-controlled.

The flowchart of FIG. 27, which corresponds to FIG. 12, has steps S801to 807 in place of step S702 shown in the basic flow of FIG. 26.

Steps S801 to S807 correspond to steps S101 to S107 shown in FIG. 12.Step S801 is, as shown in FIG. 27, executed subsequently to step S701 tojudge whether or not there is an Input Speed BA flag that is generatedby the Input Speed BA flag generation flow shown in FIG. 13, which isrunning in parallel to this flow. If “YES” is the answer at step S801, atarget displacement E1 is calculated (step S802) by using the targetdisplacement calculation characteristic data for [Brake Assist Control]shown in part (a) of FIG. 7, etc., and the process proceeds to stepS703.

If “NO” is the answer at step S801, it is judged (step S803) whether ornot there is a Build-Up flag that is generated by the Build-Up flaggeneration flow shown in FIG. 14, which is running in parallel to thisflow.

If “YES” is the answer at step S803, a target displacement E2 iscalculated (step S804) by using the target displacement calculationcharacteristic data for [Build-Up Control] shown in part (a) of FIG. 8,etc., and the process proceeds to step S703.

If “NO” is the answer at step S803, it is judged (step S805) whether ornot there is a Regenerative Cooperative flag that is generated by theRegenerative Cooperative flag generation flow shown in FIG. 15, which isrunning in parallel to this flow. If “YES” is the answer at step S805, atarget displacement E3 is calculated (step S806), and the processproceeds to step S703. It should be noted that the processing at stepS806 for calculating a target displacement E3 for regenerativecooperative control can be carried out in the same way as theregenerative cooperative control target displacement setting flow shownin FIG. 16 by calculating the target displacement E3 by using dataprescribing the relationship between the fluid pressure and the assiststroke absolute displacement as the above-described characteristic dataL1, L2, etc. for calculating a target displacement for [RegenerativeCooperative Control] shown in part (d) of FIG. 9, instead of using dataprescribed in terms of the relationship between the fluid pressure andthe relative displacement (specifically, at steps S407 and 408, anassist stroke absolute displacement is calculated in place of a relativedisplacement and set as the target displacement E3).

If “NO” is the answer at step S805, a target displacement E4 iscalculated (step S807) by using the target displacement calculationcharacteristic data for [Variable Boost Control] shown in part (a) ofFIG. 5, etc., and the process proceeds to step S703.

The third embodiment also offers the same advantageous effects as thosein the foregoing first embodiment.

In the electrically actuated booster 50C according to the thirdembodiment shown in FIGS. 25 and 26, the potentiometer 86 is used as theinput absolute displacement detecting means to obtain an input absolutedisplacement, by way of example. In the third embodiment also, a fluidpressure sensor, a pedal depressing force sensor or a current sensor maybe used in place of the potentiometer 86, as stated above. This will beexplained with reference to FIGS. 23 and 24. In this case, the stroke Xbof the booster piston 52 is already known from the detection signal fromthe resolver 91.

(A2) Regarding the fact that the input absolute displacement can beestimated (obtained) by using the fluid pressure sensor as the inputabsolute displacement detecting means:

The stroke Xi of the input piston 58 and the stroke Xb of the boosterpiston 52 cause a fluid quantity change (volume change) ΔV given byEquation (11) to occur in the pressure chamber 2A.ΔV=Xb·Ab+Xi·Ai  (11)

Equation (11) may be changed to obtain Equation (12).Xi=(ΔV−Xb·Ab)/Ai  (12)

On the basis of Equation (11) and the above-described Pb−ΔVcorresponding relationship [Pb=f(ΔV)], a fluid quantity change (volumechange) ΔV can be obtained from the fluid pressure Pb detected by thefluid pressure sensor.

Therefore, by substituting the fluid quantity change ΔV obtained asstated above and the stroke Xb, which is known, into Equation (12), thestroke Xi of the input piston 58 can be calculated. In other words, thestroke Xi of the input piston 58 can be calculated from the data (fluidpressure Pb) detected by the fluid pressure sensor.

(B2) Regarding the fact that the input absolute displacement can beestimated (obtained) by using the brake pedal depressing force sensor asthe input absolute displacement detecting means:

The fluid quantity change (volume change) ΔV is given by the followingEquation (13).ΔV=Xb·Ab+(Xb+ΔX)·Ai  (13)

On the basis of Equations (13) and (9) and the above-describedcorresponding relationship Pb=f(ΔV), ΔX can be obtained from the knowndata and the brake pedal depressing force FiO detected by the brakepedal depressing force sensor.

Meanwhile, Xi is given by the following Equation (14). The stroke Xi ofthe input piston 58 can be calculated from the above-obtained ΔX.Xi=Xb+ΔX  (14)

Thus, the stroke Xi of the input piston 58 can be calculated from thebrake pedal depressing force FiO detected by the brake pedal depressingforce sensor.

(C2) Regarding the fact that the input absolute displacement can beestimated (obtained) by using the current sensor as the input absolutedisplacement detecting means:

The fluid pressure Pb in the pressure chamber 2A is given by Equation(10), and the fluid quantity change (volume change) ΔV is given byEquation (13). On the basis of Equations (10) and (13) and theabove-described corresponding relationship Pb=f(ΔV), ΔX can be obtainedfrom the known data and the booster thrust Fb (i.e. the electric currentdetected by the current sensor, which is the source of generating thebooster thrust Fb).

Meanwhile, Xi is given by the above Equation (14). The stroke Xi of theinput piston 58 can be calculated from the above-obtained ΔX.

Thus, the stroke Xi of the input piston 58 can be calculated from theelectric current value detected by the current sensor.

The invention claimed is:
 1. An electrically actuated boostercomprising: a master cylinder that generates a brake fluid pressure; aninput member that moves forward and backward in response to an operationof a brake pedal; a booster piston configured to control the brake fluidpressure in the master cylinder by moving in the master cylinder; anelectrically-operated actuator that causes the booster piston to move; atarget displacement setting unit that sets a target value of a relativedisplacement between the booster piston and the input member based on anoperation amount of the brake pedal, or that sets a target value of anabsolute displacement of the booster piston based on the operationamount of the brake pedal; a controller that controls theelectrically-operated actuator so that the relative displacement betweenthe booster piston and the input member becomes equal to the targetvalue of the relative displacement set by the target displacementsetting unit or the absolute displacement of the booster piston becomesthe target value of the absolute displacement.
 2. The electricallyactuated booster of claim 1, wherein the target displacement settingunit sets the target value of the relative displacement or the targetvalue of the absolute displacement to obtain various brakecharacteristics by changing the relative positional relationship betweenthe input member and the booster piston.
 3. The electrically actuatedbooster of claim 1, wherein the target displacement setting unit setsthe target value of the relative displacement between the booster pistonand the input member based on the operation amount of the brake pedal orsets the target value of the absolute displacement of the booster pistonbased on the operation amount of the brake pedal so that a forwardmovement of the booster piston becomes larger than a forwarddisplacement of the input member in a direction for increasing the brakefluid pressure, and the relative displacement between the booster pistonand the input member increases according to a forward movement of thebooster piston.
 4. The electrically actuated booster of claim 1, whereinthe target displacement setting unit sets the target value of therelative displacement between the booster piston and the input memberbased on the operation amount of the brake pedal or sets the targetvalue of the absolute displacement of the booster piston based on theoperation amount of the brake pedal so that the booster piston movesbackward relative to the forward movement of the input member in adirection for increasing the brake fluid pressure.
 5. The electricallyactuated booster of claim 1, further comprising a relative displacementdetecting means that detects a relative displacement between the boosterpiston and the input member, wherein the controller that controls theelectrically-operated actuator controls the electrically-operatedactuator based on a signal from the relative displacement detectingmeans so that the relative displacement becomes the target value of therelative displacement set by the target displacement setting unit. 6.The electrically actuated booster of claim 1, further comprising abooster piston displacement detecting means that detects a displacementof the booster piston, wherein the controller that controls theelectrically-operated actuator controls the electrically-operatedactuator based on a signal from the booster piston displacementdetecting means so that the absolute displacement becomes the targetvalue of the absolute displacement set by the target displacementsetting unit.
 7. An electrically actuated booster comprising: a mastercylinder that generates a brake fluid pressure; an input member thatmoves forward and backward in response to an operation of a brake pedal;a booster piston configured to control the brake fluid pressure in themaster cylinder by moving in the master cylinder; anelectrically-operated actuator that causes the booster piston to move; atarget displacement setting unit that sets a target value of a relativedisplacement between the booster piston and the input member based on anoperation amount of the brake pedal; a controller that controls theelectrically-operated actuator so that the relative displacement betweenthe booster piston and the input member becomes equal to the targetvalue of the relative displacement set by the target displacementsetting unit; and a memory that stores characteristic data relating tothe relative displacement between the booster piston and the inputmember to a displacement of the brake pedal that is an operation amountof the brake pedal; wherein the target displacement setting unit setsthe target value of the relative displacement based on thecharacteristic data stored in the memory.
 8. The electrically actuatedbooster of claim 7, wherein the memory stores a plurality of types ofcharacteristic data, as the characteristic data, for obtaining variousbrake characteristics by changing the relative displacement between thebooster piston and the input member to the displacement of the brakepedal.
 9. The electrically actuated booster of claim 7, wherein thetarget displacement setting unit sets the target value of the relativedisplacement between the booster piston and the input member based onthe displacement of the brake pedal so that a forward movement of thebooster piston becomes larger than a forward movement of the inputmember in a direction for increasing the brake fluid pressure, and therelative displacement between the booster piston and the input memberincreases according to a forward movement of the booster piston.
 10. Anelectrically actuated booster comprising: a master cylinder thatgenerates a brake fluid pressure; a booster piston configured to controlthe brake fluid pressure in the master cylinder by moving in the mastercylinder; an electrically-operated actuator that causes the boosterpiston to move; a target displacement setting unit that sets a targetvalue of an absolute displacement of the booster piston based on anoperation amount of a brake pedal; a controller that controls theelectrically-operated actuator so that the absolute displacement of thebooster piston becomes the target value of the absolute displacement setby the target displacement setting unit; and a memory that stores acharacteristic data relating to the absolute displacement of the boosterpiston to a displacement of the brake pedal that is the operation amountof the brake pedal; wherein the target displacement setting unit setsthe target value of the absolute displacement based on thecharacteristic data stored in the memory.
 11. The electrically actuatedbooster of claim 10, wherein the memory stores a plurality of types ofcharacteristic data, as the characteristic data, for obtaining variousbrake characteristics by changing the absolute displacement of thebooster piston to the displacement of the brake pedal.
 12. Theelectrically actuated booster of claim 10, wherein the targetdisplacement setting unit sets the target value of the absolutedisplacement of the booster piston based on the displacement of thebrake pedal so that a forward movement of the booster piston becomeslarger than a forward movement of the brake pedal in a direction forincreasing the brake fluid pressure, and the absolute displacement ofthe booster piston to the absolute displacement of the brake pedalincreases according to a forward movement of the booster piston.
 13. Anelectrically actuated booster comprising: a housing; a master cylinderthat is supported by the housing and generates a brake fluid pressure; abooster piston configured to move forward and backward along an axis ofthe master cylinder and to control the brake fluid pressure generated bythe master cylinder; an electrically-operated actuator having anelectric motor to cause the booster piston to move forward and backward;a controller that controls the electrically-operated actuator; adisplacement measuring means detecting a braking operation amount by anoperation of the brake pedal; an input member that moves forward andbackward along an axis of the booster piston in response to a brakingoperation of a brake pedal; and urging means provided between the inputmember and the booster piston to urge the input member relative to thebooster piston toward an initial position of the input member, whereinthe master cylinder generates a brake fluid pressure based on a thrustforce of the input member and a thrust force of the booster piston sothat a part of a reaction force caused by the brake fluid pressure istransmitted to the input member, and another part of the reaction forceis transmitted to the booster piston, respectively, wherein when theregenerative braking operation is performed by the regenerative brakingsystem, the urging means compensate a reduction of the reaction force tothe input member by the reduction of the brake fluid pressure in themaster cylinder, based on the displacement of the booster piston,wherein the controller calculates a target position of the boosterpiston based on an output of displacement measuring means, and controlsthe electrically-operated actuator based on the target position, andwherein when a braking operation by a regenerative braking system isperformed, the controller calculates a target position of the boosterpiston where the booster piston is displaced in a direction for reducingthe brake fluid pressure, relative to a target position of the boosterpiston calculated when the braking operation by the regenerative brakingsystem is not performed, and controls the electrically-operated actuatorbased on the calculated target position.
 14. The electrically actuatedbooster of claim 13, wherein when a regenerative braking operation isperformed, the controller controls the electrically-operated actuator byperforming regenerative cooperative control so that the booster pistonmoves and the brake fluid pressure generated in the master cylinder isreduced by an amount corresponding to a regenerative braking forcegenerated during regeneration.
 15. The electrically actuated booster ofclaim 13, wherein the controller calculates a relative position of thebooster piston to the input member as the target position, based on theoutput of the displacement measuring means, and controls theelectrically-operated actuator based on the calculated target position.16. The electrically actuated booster of claim 13, wherein thedisplacement detecting means generates an output representing anabsolute displacement of the input member relative to the vehicle body,and wherein the controller calculates a target displacement of thebooster piston based on the output of the displacement measuring meansrepresenting the absolute displacement of the input member.